/components/Lidar.cpp - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / components / Lidar.cpp @ bfffb0bd

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+#include <amiro/Lidar.h>
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+#include <global.hpp>
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+using namespace chibios_rt;
 using namespace amiro;
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+extern Global global;
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+uint8_t Lidar::scannedData[NUMBER_OF_CHARACTERS + 1] = {};
 Lidar::Lidar(const uint8_t boardId, Lidar::SETUP setup)
     : BaseStaticThread<256>(),
       boardId(boardId),
       setup(setup) {
+}
 Lidar::
 ~Lidar() {
   // Power down the LIDAR
   // TODO Is it correct anyway
   switch (boardId) {
     case(CAN::LIGHT_RING_ID):
       palWritePad(GPIOB, GPIOB_LASER_EN, PAL_LOW);
       break;
     default:
       break;
+  }
   this->isReady = false;
 };
 void Lidar::flushSD2InputQueue() {
   chSysLock();
   chIQResetI(&SD2.iqueue);
   chSysUnlock();
+}
 msg_t Lidar::main(void) {
   switch (this->boardId) {
     case(CAN::LIGHT_RING_ID): {
       // Power up the LIDAR
       palWritePad(GPIOB, GPIOB_LASER_EN, PAL_HIGH);
       BaseThread::sleep(MS2ST(5000));
       // Setup the driver and lidar, if we want to communicate with it
       if (setup != SETUP::POWER_ONLY) {
         // Flush the queue because there is a "0" in it
         flushSD2InputQueue();
         // Configure LIDAR serial interface speed
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+//       chprintf((BaseSequentialStream*) &global.sercanmux1, "Speed switch to " STR(SD_SPEED) "\n");
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+        chprintf((BaseSequentialStream*) &SD2, "SS" STR(SD_SPEED_PREFIX) STR(SD_SPEED) LF);
         // Check if the switch went well, otherwise terminate the thread
         if (checkDataString("SS" STR(SD_SPEED_PREFIX) STR(SD_SPEED) "\n00P\n\n")) {
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+          chprintf((BaseSequentialStream*) &global.sercanmux1, "Lidar speed switch OK\n");
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+          // Configure serial interface of STM32
           sdStop(&SD2);
           SerialConfig sdLidarconf = { SD_SPEED, 0, 0, 0 };
           sdStart(&SD2, &sdLidarconf);
         } else {
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+          chprintf((BaseSequentialStream*) &global.sercanmux1, "Lidar speed switch NOT OK: Terminating Lidar \n");
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+          palWritePad(GPIOB, GPIOB_LASER_EN, PAL_LOW);
           return -1;
+        }
+      }
       break;
+    }
     default:
       break;
+  }
   evtInit(&this->evtimer, UPDATE_LIDAR_PERIOD_MSEC);
   EvtSource *eventTimerEvtSource = reinterpret_cast<EvtSource *>(&this->evtimer.et_es);
   EvtListener eventTimerEvtListener;
   // TODO Does PERIODIC_TIMER_ID has something to do with ControllerAreNetwork.h ?
   eventTimerEvtSource->registerOne(&eventTimerEvtListener, CAN::PERIODIC_TIMER_ID);
   evtStart(&this->evtimer);
   this->setName("Lidar");
   while (!this->shouldTerminate()) {
     eventmask_t eventMask = this->waitOneEvent(ALL_EVENTS);
     switch (eventMask) {
       case EVENT_MASK(CAN::PERIODIC_TIMER_ID):
 //         printDetails();
         if (setup != SETUP::POWER_ONLY) {
           updateSensorVal();
+        }
         break;
+    }
+  }
   evtStop(&this->evtimer);
   eventTimerEvtSource->unregister(&eventTimerEvtListener);
   return RDY_OK;
+}
 bool_t Lidar::getScan(uint16_t (&scannedData)[NUMBER_OF_STEPS]) {
   if (this->isReady && !this->isFail) {
     chSysLock();
       memcpy(&scannedData, &(Lidar::scannedData[0]), NUMBER_OF_CHARACTERS);
       this->isReady = false;
     chSysUnlock();
     return true;
   } else {
     return false;
+  }
+}
 uint16_t Lidar::getNumberOfValues() {
   return NUMBER_OF_STEPS;
+}
 uint16_t Lidar::twoCharacterEncoding(uint8_t &char1, uint8_t &char2) {
   return uint16_t((((char1 - 0x30) & 0b00111111) << 6) | ((char2 - 0x30) & 0b00111111));
+}
 bool_t Lidar::getData(uint8_t &data, uint32_t timeoutMs) {
 //     data = sdGet(&SD2);
     msg_t dataTmp = chIQGetTimeout(&SD2.iqueue, MS2ST(timeoutMs));
     if  (dataTmp == Q_TIMEOUT || dataTmp == Q_RESET) {
       return false;
     } else {
       data = uint8_t(dataTmp);
       ++this->dataCounter;
       return true;
+    }
+}
 msg_t Lidar::updateSensorVal() {
   chSysLock();
     // Set this flag so that the everyone knows, that scannedData will be filed right now
     this->isReady = false;
     // Reset the FAIL flag
     this->isFail = false;
   chSysUnlock();
   while (!this->isReady) {
     switch(step) {
       case SEND_SCAN_CMD:
         flushSD2InputQueue();
 //                     Read (725-(44-1))=682 values with two-character encoding what makes 1364 datapoints
 //                     1456 in total:
 //                     16 (Cmd-Echo) + ? (Remaining Scans) + 1 (LF) + ? (String Characters) + 1 (LF) + 2 (Status) + 1 (Sum) + 1 (LF) + ? (Timestamp) + 1 (LF) + 1364 (Data for a certain setup) + 1 (Sum) + 1 (LF) + 1 (LF)
         chprintf((BaseSequentialStream*) &SD2,DATA_ACQ_CODE STR(STARTING_STEP_PREFIX) STR(STARTING_STEP) STR(END_STEP_PREFIX) STR(END_STEP) STR(CLUSTER_COUNT) STR(SCAN_INTERVALL) STR(NUMBER_OF_INTERVALL) LF);
         step = DATA_VALID_CHECK;
         this->dataCounter = 0;
         break;
       case DATA_VALID_CHECK:
         if(getData(this->newInput, 200)) {
           // TODO check for last data, if scan has a few errors
           // HACK The timeout fix this issue at least, because after a while there
           //      wont be any transmitts
           if (this->newInput == validScanTag[this->checkStatusIdx]) {
             if (++this->checkStatusIdx == 5) {
               // scan_data is without error: Found the sting "\n99b\n"
               step = DATA_START_CHECK;
               this->checkStatusIdx = 0;
+            }
           } else {
             this->checkStatusIdx = 0;
+          }
         } else {
           step = FAIL;
+        }
         break;
       case DATA_START_CHECK:
         // Check for the next linefeed to start the record
         if(getData(this->newInput, 200)) {
           if (this->newInput == 10) {
             step = DATA_RECORD;
             this->dataIdx = 0;
+          }
         } else {
           step = FAIL;
+        }
         break;
       case DATA_RECORD:
         if(getData(this->newInput, 200)) {
           if (this->lastInput == 10 && this->newInput == 10) {
             // end of data
             this->lastInput = 0x0;  // Just to delete this->lastInput value
             step = DATA_DECODE;
           } else if  (this->newInput != 10) {
             Lidar::scannedData[this->dataIdx++] = this->newInput;
             this->lastInput = this->newInput;
           } else {  // this->lastInput != 10 && this->newInput == 10
             // This is the case, where we know that the last character was the checksum.
             // Therefore, we need to decrement the counter
             --this->dataIdx;
             this->lastInput = this->newInput;
+          }
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+          //chprintf((BaseSequentialStream*) &global.sercanmux1, "%d ", this->newInput);
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+        } else {
           step = FAIL;
+        }
         break;
       case DATA_DECODE:
         // Decode the recorded data
         for (uint16_t idx=0; idx < NUMBER_OF_CHARACTERS; idx += 2) {
           //TODO Check if +1 is right
           *((uint16_t*) &(Lidar::scannedData[idx])) = twoCharacterEncoding(Lidar::scannedData[idx],Lidar::scannedData[idx+1]);
+        }
         // To print out the data in this thread, choose "step = DATA_SHOW"
         step = FINISH;
         break;
       case DATA_SHOW:
         // Show the decoded data
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+        chprintf((BaseSequentialStream*) &global.sercanmux1, "\n%d", this->dataCounter);
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+        for (uint32_t idx=0; idx < this->dataIdx; idx+=2) {
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+          chprintf((BaseSequentialStream*) &global.sercanmux1, "\n%d", *((uint16_t*) &(Lidar::scannedData[idx])));
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+            Thomas Schöpping
         step = FINISH;
         break;
       case FAIL:
         // Set the FAIL flag
         chSysLock();
           // Set this flag so that the everyone knows, that scannedData holds wrong information
           this->isFail = true;
         chSysUnlock();
         break;
       case FINISH:
         // Clean up
         this->step = SEND_SCAN_CMD;
         chSysLock();
           // Set this flag so that the everyone knows, that scannedData holds the actual data
           this->isReady = true;
         chSysUnlock();
         break;
       default:
         break;
+    }
+  }
   return RDY_OK;
+}
 void Lidar::printData() {
   uint8_t lastInput = 0xFF, newInput = 0xFF;
   while (true) {
     if(getData(newInput, 200)) {
       if (lastInput == 10 && newInput == 10) {
         return;
       } else {
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+        chprintf((BaseSequentialStream*) &global.sercanmux1, "%c", newInput);
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+            Thomas Schöpping
       lastInput = newInput;
     } else {
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+      chprintf((BaseSequentialStream*) &global.sercanmux1, "TIMEOUT\n", newInput);
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+      return;
+    }
+  }
+}
 bool_t Lidar::checkDataString(const char compareString[]) {
   uint8_t lastInput = 0xFF, newInput = 0xFF, recIdx = 0;
   bool_t dataOk = true, processFlag = true;
   while (processFlag) {
     if (getData(newInput, 200)) {
       // End of data received, quit processing
       if (lastInput == 10 && newInput == 10) {
         processFlag = false;
+      }
       // Compare data if the characters before have been ok
       // Otherwise do not compare anymore, because of possible
       // segmentation fault
       if (dataOk) {
         if (newInput != compareString[recIdx++]) {
           dataOk = false;
+        }
+      }
       // Save the received character
       lastInput = newInput;
     } else {
       processFlag = false;
       dataOk = false;
+    }
+  }
   return dataOk;
+}
 void Lidar::printDetails() {
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+  chprintf((BaseSequentialStream*) &global.sercanmux1, "Print sensor details:\n");
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+            Thomas Schöpping
   // Tell the sensor to transmit its details
   chprintf((BaseSequentialStream*) &SD2, "VV\n");
   // Print the transmitted data
   printData();
+}
 void Lidar::printSpecification() {
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+  chprintf((BaseSequentialStream*) &global.sercanmux1, "Print sensor specification:\n");
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+            Thomas Schöpping
   // Tell the sensor to transmit its specifications
   chprintf((BaseSequentialStream*) &SD2, "PP\n");
   // Print the transmitted data
   printData();
+}
 void Lidar::printInformation() {
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+  chprintf((BaseSequentialStream*) &global.sercanmux1, "Print sensor information:\n");
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+            Thomas Schöpping
   // Tell the sensor to transmit its information
   chprintf((BaseSequentialStream*) &SD2, "II\n");
   // Print the transmitted data
   printData();
+}
 bool_t Lidar::getIsReady() {
   return this->isReady;
+}